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Inverse Dynamics Pretraining Learns Good Representations for Multitask Imitation

26 May 2023

David Brandfonbrener

Ofir Nachum

Joan Bruna

AI4CE

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Papers citing "Inverse Dynamics Pretraining Learns Good Representations for Multitask Imitation"

37 / 37 papers shown

Title
PlaySlot: Learning Inverse Latent Dynamics for Controllable Object-Centric Video Prediction and Planning Angel Villar-Corrales Sven Behnke 211 4 0 11 Feb 2025
Behavior Prior Representation learning for Offline Reinforcement Learning Hongyu Zang Xin Li Jie Yu Chen Liu Riashat Islam Rémi Tachet des Combes Romain Laroche OffRL OnRL 77 10 0 02 Nov 2022
Masked World Models for Visual Control Younggyo Seo Danijar Hafner Hao Liu Fangchen Liu Stephen James Kimin Lee Pieter Abbeel OffRL 166 149 0 28 Jun 2022
Video PreTraining (VPT): Learning to Act by Watching Unlabeled Online Videos Bowen Baker Ilge Akkaya Peter Zhokhov Joost Huizinga Jie Tang Adrien Ecoffet Brandon Houghton Raul Sampedro Jeff Clune OffRL 130 303 0 23 Jun 2022
Contrastive Learning as Goal-Conditioned Reinforcement Learning Benjamin Eysenbach Tianjun Zhang Ruslan Salakhutdinov Sergey Levine SSL OffRL 98 163 0 15 Jun 2022
A Generalist Agent Scott E. Reed Konrad Zolna Emilio Parisotto Sergio Gomez Colmenarejo Alexander Novikov ... Yutian Chen R. Hadsell Oriol Vinyals Mahyar Bordbar Nando de Freitas LM&Ro LLMAG AI4CE 211 824 0 12 May 2022
Reinforcement Learning with Action-Free Pre-Training from Videos Younggyo Seo Kimin Lee Stephen James Pieter Abbeel SSL OnRL 90 123 0 25 Mar 2022
R3M: A Universal Visual Representation for Robot Manipulation Suraj Nair Aravind Rajeswaran Vikash Kumar Chelsea Finn Abhi Gupta LM&Ro 101 584 0 23 Mar 2022
BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning Eric Jang A. Irpan Mohi Khansari Daniel Kappler F. Ebert Corey Lynch Sergey Levine Chelsea Finn LM&Ro 263 549 0 04 Feb 2022
The Surprising Effectiveness of Representation Learning for Visual Imitation Jyothish Pari Nur Muhammad (Mahi) Shafiullah Sridhar Pandian Arunachalam Lerrel Pinto SSL 99 171 0 02 Dec 2021
TRAIL: Near-Optimal Imitation Learning with Suboptimal Data Mengjiao Yang Sergey Levine Ofir Nachum OffRL 82 42 0 27 Oct 2021
Provable RL with Exogenous Distractors via Multistep Inverse Dynamics Yonathan Efroni Dipendra Kumar Misra A. Krishnamurthy Alekh Agarwal John Langford OffRL 46 23 0 17 Oct 2021
Ego4D: Around the World in 3,000 Hours of Egocentric Video Kristen Grauman Andrew Westbury Eugene Byrne Zachary Chavis Antonino Furnari ... Mike Zheng Shou Antonio Torralba Lorenzo Torresani Mingfei Yan Jitendra Malik EgoV 401 1,109 0 13 Oct 2021
Pretraining Representations for Data-Efficient Reinforcement Learning Max Schwarzer Nitarshan Rajkumar Michael Noukhovitch Ankesh Anand Laurent Charlin Devon Hjelm Philip Bachman Aaron Courville OffRL 93 118 0 09 Jun 2021
XIRL: Cross-embodiment Inverse Reinforcement Learning Kevin Zakka Andy Zeng Peter R. Florence Jonathan Tompson Jeannette Bohg Debidatta Dwibedi SSL 85 122 0 07 Jun 2021
OPAL: Offline Primitive Discovery for Accelerating Offline Reinforcement Learning Anurag Ajay Aviral Kumar Pulkit Agrawal Sergey Levine Ofir Nachum OffRL OnRL 87 159 0 26 Oct 2020
Decoupling Representation Learning from Reinforcement Learning Adam Stooke Kimin Lee Pieter Abbeel Michael Laskin SSL DRL 367 345 0 14 Sep 2020
Certainty Equivalent Perception-Based Control Sarah Dean Benjamin Recht 70 28 0 27 Aug 2020
Offline Meta-Reinforcement Learning with Advantage Weighting E. Mitchell Rafael Rafailov Xue Bin Peng Sergey Levine Chelsea Finn OffRL 84 108 0 13 Aug 2020
dm_control: Software and Tasks for Continuous Control Yuval Tassa S. Tunyasuvunakool Alistair Muldal Yotam Doron Piotr Trochim ... Steven Bohez J. Merel Tom Erez Timothy Lillicrap N. Heess LM&Ro 94 416 0 22 Jun 2020
Learning Invariant Representations for Reinforcement Learning without Reconstruction Amy Zhang R. McAllister Roberto Calandra Y. Gal Sergey Levine OOD SSL 114 478 0 18 Jun 2020
Bootstrap your own latent: A new approach to self-supervised Learning Jean-Bastien Grill Florian Strub Florent Altché Corentin Tallec Pierre Harvey Richemond ... M. G. Azar Bilal Piot Koray Kavukcuoglu Rémi Munos Michal Valko SSL 398 6,837 0 13 Jun 2020
CURL: Contrastive Unsupervised Representations for Reinforcement Learning A. Srinivas Michael Laskin Pieter Abbeel SSL DRL OffRL 97 1,092 0 08 Apr 2020
Provable Representation Learning for Imitation Learning via Bi-level Optimization Sanjeev Arora S. Du Sham Kakade Yuping Luo Nikunj Saunshi 72 61 0 24 Feb 2020
A Simple Framework for Contrastive Learning of Visual Representations Ting-Li Chen Simon Kornblith Mohammad Norouzi Geoffrey E. Hinton SSL 387 18,866 0 13 Feb 2020
Imitation Learning via Off-Policy Distribution Matching Ilya Kostrikov Ofir Nachum Jonathan Tompson OOD OffRL 158 205 0 10 Dec 2019
Improving Sample Efficiency in Model-Free Reinforcement Learning from Images Denis Yarats Amy Zhang Ilya Kostrikov Brandon Amos Joelle Pineau Rob Fergus DRL 106 447 0 02 Oct 2019
Dynamics-aware Embeddings William F. Whitney Rajat Agarwal Kyunghyun Cho Abhinav Gupta SSL 61 53 0 25 Aug 2019
Goal-conditioned Imitation Learning Yiming Ding Carlos Florensa Mariano Phielipp Pieter Abbeel 67 227 0 13 Jun 2019
DeepMDP: Learning Continuous Latent Space Models for Representation Learning Carles Gelada Saurabh Kumar Jacob Buckman Ofir Nachum Marc G. Bellemare BDL 85 288 0 06 Jun 2019
Learning Actionable Representations with Goal-Conditioned Policies Dibya Ghosh Abhishek Gupta Sergey Levine 71 110 0 19 Nov 2018
One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning Tianhe Yu Chelsea Finn Annie Xie Sudeep Dasari Tianhao Zhang Pieter Abbeel Sergey Levine 67 361 0 05 Feb 2018
One-Shot Visual Imitation Learning via Meta-Learning Chelsea Finn Tianhe Yu Tianhao Zhang Pieter Abbeel Sergey Levine SSL 126 566 0 14 Sep 2017
Curiosity-driven Exploration by Self-supervised Prediction Deepak Pathak Pulkit Agrawal Alexei A. Efros Trevor Darrell LRM SSL 122 2,451 0 15 May 2017
One-Shot Imitation Learning Yan Duan Marcin Andrychowicz Bradly C. Stadie Jonathan Ho Jonas Schneider Ilya Sutskever Pieter Abbeel Wojciech Zaremba OffRL 86 688 0 21 Mar 2017
Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks Chelsea Finn Pieter Abbeel Sergey Levine OOD 829 11,943 0 09 Mar 2017
Generative Adversarial Imitation Learning Jonathan Ho Stefano Ermon GAN 159 3,119 0 10 Jun 2016